Method and apparatus with pose tracking

Abstract

A pose tracking method and apparatus are disclosed. The pose tracking method includes obtaining an image of a trackable target having a plurality of markers, detecting first points in the obtained image to which the markers are projected, matching the first points and second points corresponding to positions of the markers in a coordinate system set based on the trackable target based on rotation information of the trackable target, and estimating a pose of the trackable target based on matching pairs of the first points and the second points.

What is claimed is: 
     
       1. A pose tracking method, comprising:
 obtaining an image of a trackable target having a plurality of markers; 
 detecting first points in the obtained image to which the markers are projected; 
 matching the first points to second points, corresponding to positions of the markers in a coordinate system set based on the trackable target, based on rotation information of the trackable target; and 
 estimating a pose of the trackable target based on matching pairs of the first points and the second points. 
 
     
     
       2. The pose tracking method of  claim 1 , wherein the obtaining comprises obtaining only information of pixels in the image that periodically change. 
     
     
       3. The pose tracking method of  claim 1 , wherein the detecting comprises:
 obtaining pixels in the image that periodically change by filtering based on a characteristic of the change; 
 classifying the obtained pixels into different clusters based on respective positions of the pixels; and 
 detecting, as the first points, pixels at positions having greatest densities in the clusters. 
 
     
     
       4. The pose tracking method of  claim 1 , wherein the matching comprises:
 establishing a translation vector based on one or more functions of coordinates of the first points, coordinates of the second points, and the rotation information; 
 obtaining a translation vector list comprising solutions of the one or more functions; and 
 matching the first points and the second points based on the obtained translation vector list. 
 
     
     
       5. The pose tracking method of  claim 4 , wherein the matching based on the translation vector list comprises:
 determining validity of translation vectors included in the translation vector list; and 
 matching the first points and the second points based on a result of the determining of the validity of the translation vectors. 
 
     
     
       6. The pose tracking method of  claim 5 , wherein the determining of the validity comprises:
 determining whether at least one of elements of a translation vector exceeds a threshold value; and 
 determining whether an element of the translation vector is a negative value. 
 
     
     
       7. The pose tracking method of  claim 1 , wherein the matching comprises:
 detecting, among the markers, a visible marker observable by a camera capturing the image; and 
 matching the first points and the second points based on the detected visible marker. 
 
     
     
       8. The pose tracking method of  claim 1 , further comprising:
 discarding a matching pair, among the matching pairs, of which a reprojection deviation exceeds a preset threshold value; and 
 updating the matching pairs based on a newly observed marker in the image. 
 
     
     
       9. The pose tracking method of  claim 1 , wherein the estimating comprises fusing the pose estimated, based on the matching pairs, and the rotation information. 
     
     
       10. A non-transitory computer-readable storage medium storing instructions that, when executed by a processor, cause the processor to perform the pose tracking method of  claim 1 . 
     
     
       11. A pose tracking apparatus, comprising:
 one or more processors configured to: 
 obtain an image of a trackable target having a plurality of markers; 
 detect first points in the obtained image to which the markers are projected; 
 match the first points to second points corresponding to positions of the markers in a coordinate system set based on the trackable target, based on rotation information of the trackable target; and 
 estimate a pose of the trackable target based on matching pairs of the first points and the second points. 
 
     
     
       12. The pose tracking apparatus of  claim 11 , wherein the one or more processors are further configured to obtain only information of pixels in the image that periodically change. 
     
     
       13. The pose tracking apparatus of  claim 11 , wherein the one or more processors are further configured to:
 obtain pixels in the image that periodically change by filtering based on a characteristic of the change; 
 classify the obtained pixels into different clusters based on positions of the pixels; and 
 detect, as the first points, pixels at positions having greatest densities in the clusters. 
 
     
     
       14. The pose tracking apparatus of  claim 11 , wherein the one or more processors are further configured to:
 establish a translation vector based on one or more functions of coordinates of the first points, coordinates of the second points, and the rotation information; 
 obtain a translation vector list comprising solutions of the one or more functions; and 
 match the first points and the second points based on the obtained translation vector list. 
 
     
     
       15. The pose tracking apparatus of  claim 14 , wherein the one or more processors are further configured to:
 determine validity of translation vectors included in the translation vector list; and 
 match the first points and the second points based on a result of the determining of the validity of the translation vectors. 
 
     
     
       16. The pose tracking apparatus of  claim 15 , wherein the one or more processors are further configured to:
 determine whether at least one of elements of a translation vector exceeds a threshold value; and 
 determine whether an element of the translation vector is a negative value. 
 
     
     
       17. The pose tracking apparatus of  claim 11 , wherein the one or more processors are further configured to:
 detect, among the markers, a visible marker observable by a camera capturing the image; and 
 match the first points and the second points based on the detected visible marker. 
 
     
     
       18. The pose tracking apparatus of  claim 11 , wherein the one or more processors are further configured to:
 discard a matching pair, among the matching pairs, of which a reprojection deviation exceeds a preset threshold value; and 
 update the matching pairs based on a newly observed marker in the image. 
 
     
     
       19. The pose tracking apparatus of  claim 11 , wherein the one or more processors are further configured to fuse the pose estimated ,based on the matching pairs, and the rotation information. 
     
     
       20. The pose tracking apparatus of  claim 11 , further comprising:
 an image capturing device configured to capture the image; and 
 a sensor configured to sense the rotation information.